Merge branch 'main' into matias-rayQueryFix

gazebosim · Nov 8, 2021 · 58a7cc4 · 58a7cc4
2 parents 7fdfee6 + b1d2ac8
commit 58a7cc4
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Showing 95 changed files with 1,206 additions and 196 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-rendering6 VERSION 6.0.0)
+project(ignition-rendering7 VERSION 7.0.0)
 
 #============================================================================
 # Find ignition-cmake
@@ -15,7 +15,7 @@ set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 #============================================================================
 # Set up the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX pre2)
+ign_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options
@@ -62,30 +62,21 @@ endif()
 
 #--------------------------------------
 # Find OGRE
-list(APPEND ign_ogre_components "RTShaderSystem" "Terrain" "Overlay")
+list(APPEND ign_ogre_components "RTShaderSystem" "Terrain" "Overlay" "Paging")
 
-# Ogre versions greater than 1.9 are not officialy supported.
+ign_find_package(IgnOGRE VERSION 1.9.0
+  COMPONENTS ${ign_ogre_components}
+  REQUIRED_BY ogre
+  PRIVATE_FOR ogre)
+
+# Ogre versions greater than 1.9.x are not officialy supported.
 # Display a warning for the users on this setup unless they provide
 # USE_UNOFFICIAL_OGRE_VERSIONS flag
 if (NOT USE_UNOFFICIAL_OGRE_VERSIONS)
-  # Only for checking the ogre version
-  ign_find_package(IgnOGRE VERSION 1.10 QUIET)
-
-  if (OGRE_FOUND)
+  if (${OGRE_VERSION} VERSION_GREATER_EQUAL 1.10.0)
     IGN_BUILD_WARNING("Ogre 1.x versions greater than 1.9 are not officially supported."
                       "The software might compile and even work but support from upstream"
                       "could be reduced to accepting patches for newer versions")
-    ign_find_package(IgnOGRE VERSION 1.10
-      COMPONENTS ${ign_ogre_components}
-      REQUIRED_BY ogre
-      PRIVATE_FOR ogre)
-  else()
-    # If ogre 1.10 or greater was not found, then proceed to look for 1.9.x
-    # versions which are offically supported
-    ign_find_package(IgnOGRE VERSION 1.9.0
-      COMPONENTS ${ign_ogre_components}
-      REQUIRED_BY ogre
-      PRIVATE_FOR ogre)
   endif()
 endif()
 

diff --git a/Changelog.md b/Changelog.md
@@ -1,18 +1,36 @@
 ## Ignition Rendering
 
+### Ignition Rendering 7.X
+
+### Ignition Rendering 7.0.0 (202X-XX-XX)
+
 ### Ignition Rendering 6.X
 
-### Ignition Rendering 6.0.0 (20XX-XX-XX)
+### Ignition Rendering 6.0.1 (2021-10-01)
+
+1. Disable using selection buffer for ray queries
+    * [Pull request #447](https://github.com/ignitionrobotics/ign-rendering/pull/447)
+
+### Ignition Rendering 6.0.0 (2021-09-30)
+
+1. Avoid configure warning when checking ogre-1.10
+    * [Pull request #411](https://github.com/ignitionrobotics/ign-rendering/pull/411)
+    * [Pull request #413](https://github.com/ignitionrobotics/ign-rendering/pull/413)
+
+1. Use selection buffer in ray queries (ogre2)
+    * [Pull request #378](https://github.com/ignitionrobotics/ign-rendering/pull/378)
+
+1. Fix particle effect randomness
+    * [Pull request #388](https://github.com/ignitionrobotics/ign-rendering/pull/388)
 
 1. Update test config to run ogre 1.x tests in ign-rendering6 on macOS
     * [Pull request #407](https://github.com/ignitionrobotics/ign-rendering/pull/407)
     * [Pull request #409](https://github.com/ignitionrobotics/ign-rendering/pull/409)
-
-1. Check if key exists in gpu lidar's user data
-    * [Pull request #396](https://github.com/ignitionrobotics/ign-rendering/pull/396)
+    * [Pull request #409](https://github.com/ignitionrobotics/ign-rendering/pull/409)
 
 1. Clone visuals and geometries
     * [Pull request #397](https://github.com/ignitionrobotics/ign-rendering/pull/397)
+    * [Pull request #434](https://github.com/ignitionrobotics/ign-rendering/pull/434)
 
 1. Add SetSize API for LidarVisual and markers
     * [Pull request #392](https://github.com/ignitionrobotics/ign-rendering/pull/392)
@@ -23,36 +41,36 @@
 
 1. Prevent default-constructed variants from holding a type
     * [Pull request #371](https://github.com/ignitionrobotics/ign-rendering/pull/371)
+    * [Pull request #396](https://github.com/ignitionrobotics/ign-rendering/pull/396)
 
 1. Temporarily set number of camera pass count per flush to 0 in ogre2 to prevent downstream build failures
     * [Pull request #367](https://github.com/ignitionrobotics/ign-rendering/pull/367)
 
-1. Joint visual
-    * [Pull request #366](https://github.com/ignitionrobotics/ign-rendering/pull/366)
-    * [Pull request #387](https://github.com/ignitionrobotics/ign-rendering/pull/387)
+1. New visuals
+    1. Joint visual
+        * [Pull request #366](https://github.com/ignitionrobotics/ign-rendering/pull/366)
+        * [Pull request #387](https://github.com/ignitionrobotics/ign-rendering/pull/387)
 
-1. Fixing camera projection type test
-    * [Pull request #361](https://github.com/ignitionrobotics/ign-rendering/pull/361)
+    1. Center of mass visual
+        * [Pull request #345](https://github.com/ignitionrobotics/ign-rendering/pull/345)
+
+    1. Inertia visual
+        * [Pull request #326](https://github.com/ignitionrobotics/ign-rendering/pull/326)
 
 1. UserData methods moved from Visual to Node
     * [Pull request #358](https://github.com/ignitionrobotics/ign-rendering/pull/358)
 
 1. Replace renderOneFrame for per-workspace update calls
     * [Pull request #353](https://github.com/ignitionrobotics/ign-rendering/pull/353)
 
-1. Center of mass visual
-    * [Pull request #345](https://github.com/ignitionrobotics/ign-rendering/pull/345)
-
 1. Segmentation Camera
     * [Pull request #329](https://github.com/ignitionrobotics/ign-rendering/pull/329)
     * [Pull request #419](https://github.com/ignitionrobotics/ign-rendering/pull/419)
+    * [Pull request #443](https://github.com/ignitionrobotics/ign-rendering/pull/443)
 
 1. Stub bounding box camera APIs
     * [Pull request #420](https://github.com/ignitionrobotics/ign-rendering/pull/420)
 
-1. Inertia visual
-    * [Pull request #326](https://github.com/ignitionrobotics/ign-rendering/pull/326)
-
 1. Changed calculation for range clipping
     * [Pull request #325](https://github.com/ignitionrobotics/ign-rendering/pull/325)
 
@@ -61,9 +79,7 @@
 
 1. Add orthographic view controller
     * [Pull request #322](https://github.com/ignitionrobotics/ign-rendering/pull/322)
-
-1. Port codecov to new configuration
-    * [Pull request #318](https://github.com/ignitionrobotics/ign-rendering/pull/318)
+    * [Pull request #361](https://github.com/ignitionrobotics/ign-rendering/pull/361)
 
 1. Visualize wireframes
     * [Pull request #314](https://github.com/ignitionrobotics/ign-rendering/pull/314)
@@ -74,13 +90,16 @@
 1. From Ogre 2.1 to Ogre 2.2
     * [Pull request #272](https://github.com/ignitionrobotics/ign-rendering/pull/272)
     * [Pull request #393](https://github.com/ignitionrobotics/ign-rendering/pull/393)
+    * [Pull request #436](https://github.com/ignitionrobotics/ign-rendering/pull/436)
+    * [Pull request #426](https://github.com/ignitionrobotics/ign-rendering/pull/426)
+    * [Pull request #440](https://github.com/ignitionrobotics/ign-rendering/pull/440)
 
-1. All changes merged forward from ign-rendering5
-    * [Pull request #310](https://github.com/ignitionrobotics/ign-rendering/pull/310)
-    * [Pull request #331](https://github.com/ignitionrobotics/ign-rendering/pull/331)
-    * [Pull request #350](https://github.com/ignitionrobotics/ign-rendering/pull/350)
-    * [Pull request #401](https://github.com/ignitionrobotics/ign-rendering/pull/401)
-    * [Pull request #406](https://github.com/ignitionrobotics/ign-rendering/pull/406)
+1. Documentation updates
+    * [Pull request #425](https://github.com/ignitionrobotics/ign-rendering/pull/425)
+    * [Pull request #431](https://github.com/ignitionrobotics/ign-rendering/pull/431)
+
+1. Infrastructure
+    * [Pull request #318](https://github.com/ignitionrobotics/ign-rendering/pull/318)
 
 ### Ignition Rendering 5.X
 

diff --git a/examples/actor_animation/CMakeLists.txt b/examples/actor_animation/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-actor-animation)
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 
 include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}

diff --git a/examples/camera_tracking/CMakeLists.txt b/examples/camera_tracking/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-camera-tracking)
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 
 find_package(GLUT REQUIRED)
 include_directories(SYSTEM ${GLUT_INCLUDE_DIRS})

diff --git a/examples/custom_scene_viewer/CMakeLists.txt b/examples/custom_scene_viewer/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-custom-scene-viewer)
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 
 include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}

diff --git a/examples/custom_shaders/CMakeLists.txt b/examples/custom_shaders/CMakeLists.txt
@@ -5,7 +5,7 @@ include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}
 )
 
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 
 find_package(GLUT REQUIRED)
 include_directories(SYSTEM ${GLUT_INCLUDE_DIRS})

diff --git a/examples/custom_shaders_uniforms/CMakeLists.txt b/examples/custom_shaders_uniforms/CMakeLists.txt
@@ -5,7 +5,7 @@ include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}
 )
 
-find_package(ignition-rendering6)
+find_package(ignition-rendering7)
 
 set(TARGET_THIRD_PARTY_DEPENDS "")
 

diff --git a/examples/gazebo_scene_viewer/CMakeLists.txt b/examples/gazebo_scene_viewer/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-gazebo-scene-viewer)
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 find_package(gazebo REQUIRED)
 
 include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS})

diff --git a/examples/heightmap/CMakeLists.txt b/examples/heightmap/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-heightmap)
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 
 include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}

diff --git a/examples/hello_world_plugin/CMakeLists.txt b/examples/hello_world_plugin/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 set(IGN_PLUGIN_VER 1)
 set(IGN_COMMON_VER 3)
 
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 find_package(ignition-plugin1 REQUIRED COMPONENTS all)
 
 add_library(HelloWorldPlugin SHARED HelloWorldPlugin.cc)

diff --git a/examples/lidar_visual/CMakeLists.txt b/examples/lidar_visual/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-lidar_visual)
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 
 include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}

diff --git a/examples/mesh_viewer/CMakeLists.txt b/examples/mesh_viewer/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-mesh-viewer)
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 
 include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}

diff --git a/examples/mouse_picking/CMakeLists.txt b/examples/mouse_picking/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-mouse-picking)
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 
 include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}

diff --git a/examples/ogre2_demo/CMakeLists.txt b/examples/ogre2_demo/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 project(ignition-rendering-ogre2-demo)
 
-find_package(ignition-rendering6)
+find_package(ignition-rendering7)
 
 include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}

diff --git a/examples/particles_demo/CMakeLists.txt b/examples/particles_demo/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-particles-demo)
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 
 include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}

diff --git a/examples/particles_demo/Main.cc b/examples/particles_demo/Main.cc
@@ -161,7 +161,7 @@ int main(int _argc, char** _argv)
 
   // Expose engine name to command line because we can't instantiate both
   // ogre and ogre2 at the same time
-  std::string ogreEngineName("ogre");
+  std::string ogreEngineName("ogre2");
   if (_argc > 1)
   {
     ogreEngineName = _argv[1];

diff --git a/examples/render_pass/CMakeLists.txt b/examples/render_pass/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-render-pass)
 
-find_package(ignition-rendering6)
+find_package(ignition-rendering7)
 
 find_package(GLUT REQUIRED)
 include_directories(SYSTEM ${GLUT_INCLUDE_DIRS})

diff --git a/examples/segmentation_camera/CMakeLists.txt b/examples/segmentation_camera/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-segmentation-camera)
-find_package(ignition-rendering6 REQUIRED)
+find_package(ignition-rendering7 REQUIRED)
 
 include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}

diff --git a/examples/segmentation_camera/GlutWindow.cc b/examples/segmentation_camera/GlutWindow.cc
@@ -136,8 +136,7 @@ void motionCB(int _x, int _y)
 void handleMouse()
 {
   std::lock_guard<std::mutex> lock(g_mouseMutex);
-  // only ogre supports ray query for now so use
-  // ogre camera located at camera index = 0.
+
   ir::CameraPtr rayCamera = g_camera;
   if (!g_rayQuery)
   {
@@ -152,23 +151,44 @@ void handleMouse()
   if (g_mouse.buttonDirty)
   {
     g_mouse.buttonDirty = false;
+
+    // TODO: enable for segmentation cameras
+#if 0
+    // test mouse picking
+    if (g_mouse.button == GLUT_LEFT_BUTTON && g_mouse.state == GLUT_DOWN)
+    {
+      // Get visual using Selection Buffer from Camera
+      ir::VisualPtr visual;
+      ignition::math::Vector2i mousePos(g_mouse.x, g_mouse.y);
+      visual = rayCamera->VisualAt(mousePos);
+      if (visual)
+      {
+        std::cout << "Selected visual at position: ";
+        std::cout << g_mouse.x << " " << g_mouse.y << ": ";
+        std::cout << visual->Name() << "\n";
+      }
+      else
+      {
+        std::cout << "No visual found at position: ";
+        std::cout << g_mouse.x << " " << g_mouse.y << std::endl;
+      }
+    }
+#endif
+
+    // camera orbit
     double nx =
         2.0 * g_mouse.x / static_cast<double>(rayCamera->ImageWidth()) - 1.0;
     double ny = 1.0 -
         2.0 * g_mouse.y / static_cast<double>(rayCamera->ImageHeight());
+    g_rayQuery->SetFromCamera(rayCamera, ignition::math::Vector2d(nx, ny));
+    g_target  = g_rayQuery->ClosestPoint();
+    if (!g_target)
+    {
+      // set point to be 10m away if no intersection found
+      g_target.point = g_rayQuery->Origin() + g_rayQuery->Direction() * 10;
+      return;
+    }
 
-    // TODO(anyone) figure out why this code is causing a crash
-    // g_rayQuery->SetFromCamera(rayCamera, ignition::math::Vector2d(nx, ny));
-    // g_target  = g_rayQuery->ClosestPoint();
-    // if (!g_target)
-    // {
-    //   // set point to be 10m away if no intersection found
-    //   g_target.point = g_rayQuery->Origin() + g_rayQuery->Direction() * 10;
-    //   return;
-    // }
-
-    // TODO(anyone) get mouse wheel scroll zoom to work (currently isn't
-    // working)
     // mouse wheel scroll zoom
     if ((g_mouse.button == 3 || g_mouse.button == 4) &&
         g_mouse.state == GLUT_UP)
@@ -203,8 +223,7 @@ void handleMouse()
       g_viewControl.SetTarget(g_target.point);
       g_viewControl.Orbit(drag);
     }
-    // TODO(anyone) get right mouse button zoom to work. Seems to crash when
-    // used with the RayQuery
+
     // right mouse button zoom
     else if (g_mouse.button == GLUT_RIGHT_BUTTON && g_mouse.state == GLUT_DOWN)
     {

diff --git a/examples/simple_demo/CMakeLists.txt b/examples/simple_demo/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-simple-demo)
 
-find_package(ignition-rendering6)
+find_package(ignition-rendering7)
 
 find_package(GLUT REQUIRED)
 include_directories(SYSTEM ${GLUT_INCLUDE_DIRS})